#include <CANSparkMaxLowLevel.h>

Inherits frc::MotorController.

Classes
struct	FollowConfig

struct	FollowConfigBits

struct	PeriodicStatus0

struct	PeriodicStatus1

struct	PeriodicStatus2

struct	TelemetryMessage

Public Types
enum class	MotorType { kBrushed = 0 , kBrushless = 1 }

enum class	ControlType { kDutyCycle = 0 , kVelocity = 1 , kVoltage = 2 , kPosition = 3 , kSmartMotion = 4 , kCurrent = 5 , kSmartVelocity = 6 }

enum class	ParameterStatus { kOK = 0 , kInvalidID = 1 , kMismatchType = 2 , kAccessMode = 3 , kInvalid = 4 , kNotImplementedDeprecated = 5 }

enum class	PeriodicFrame { kStatus0 = 0 , kStatus1 = 1 , kStatus2 = 2 , kStatus3 = 3 , kStatus4 = 4 , kStatus5 = 5 , kStatus6 = 6 }

enum class	TelemetryID { kBusVoltage = 0 , kOutputCurrent , kVelocity , kPosition , kIAccum , kAppliedOutput , kMotorTemp , kFaults , kStickyFaults , kAnalogVoltage , kAnalogPosition , kAnalogVelocity , kAltEncPosition , kAltEncVelocity , kTotalStreams }

Public Member Functions
virtual	~CANSparkMaxLowLevel ()

uint32_t	GetFirmwareVersion ()

uint32_t	GetFirmwareVersion (bool &isDebugBuild)

std::string	GetFirmwareString ()

std::vector< uint8_t >	GetSerialNumber ()

int	GetDeviceId () const

MotorType	GetInitialMotorType ()

MotorType	GetMotorType ()

REVLibError	SetPeriodicFramePeriod (PeriodicFrame frame, int periodMs)

void	SetControlFramePeriodMs (int periodMs)

REVLibError	RestoreFactoryDefaults (bool persist=false)

Static Public Member Functions
static void	EnableExternalUSBControl (bool enable)

static void	SetEnable (bool enable)

Static Public Attributes
static const uint8_t	kAPIMajorVersion

static const uint8_t	kAPIMinorVersion

static const uint8_t	kAPIBuildVersion

static const uint32_t	kAPIVersion

Protected Types
enum class	FeedbackSensorType { kNoSensor = 0 , kHallSensor = 1 , kQuadrature = 2 , kSensorless = 3 , kAnalog = 4 , kAltQuadrature = 5 , kDutyCycleSensor = 6 }

Protected Member Functions
PeriodicStatus0	GetPeriodicStatus0 ()

PeriodicStatus1	GetPeriodicStatus1 ()

PeriodicStatus2	GetPeriodicStatus2 ()

REVLibError	SetFollow (FollowConfig config)

REVLibError	SetpointCommand (double value, CANSparkMaxLowLevel::ControlType ctrl=ControlType::kDutyCycle, int pidSlot=0, double arbFeedforward=0, int arbFFUnits=0)

float	GetSafeFloat (float f)

Protected Attributes
MotorType	m_motorType

void *	m_sparkMaxHandle

Friends
class	CANAnalog

class	CANDigitalInput

class	CANEncoder

class	CANPIDController

class	CANSensor

class	CANSparkMax

class	MotorFeedbackSensor

class	SparkMaxAnalogSensor

class	SparkMaxAlternateEncoder

class	SparkMaxLimitSwitch

class	SparkMaxPIDController

class	SparkMaxRelativeEncoder

class	SparkMaxAbsoluteEncoder

class	::ConfigBase

Member Enumeration Documentation

◆ MotorType

enum class rev::CANSparkMaxLowLevel::MotorType

strong

Enumerator
kBrushed
kBrushless

◆ ControlType

enum class rev::CANSparkMaxLowLevel::ControlType

strong

Enumerator
kDutyCycle
kVelocity
kVoltage
kPosition
kSmartMotion
kCurrent
kSmartVelocity

◆ ParameterStatus

enum class rev::CANSparkMaxLowLevel::ParameterStatus

strong

Enumerator
kOK
kInvalidID
kMismatchType
kAccessMode
kInvalid
kNotImplementedDeprecated

◆ PeriodicFrame

enum class rev::CANSparkMaxLowLevel::PeriodicFrame

strong

Enumerator
kStatus0
kStatus1
kStatus2
kStatus3
kStatus4
kStatus5
kStatus6

◆ TelemetryID

enum class rev::CANSparkMaxLowLevel::TelemetryID

strong

Enumerator
kBusVoltage
kOutputCurrent
kVelocity
kPosition
kIAccum
kAppliedOutput
kMotorTemp
kFaults
kStickyFaults
kAnalogVoltage
kAnalogPosition
kAnalogVelocity
kAltEncPosition
kAltEncVelocity
kTotalStreams

◆ FeedbackSensorType

enum class rev::CANSparkMaxLowLevel::FeedbackSensorType

strongprotected

Enumerator
kNoSensor
kHallSensor
kQuadrature
kSensorless
kAnalog
kAltQuadrature
kDutyCycleSensor

Constructor & Destructor Documentation

◆ ~CANSparkMaxLowLevel()

virtual rev::CANSparkMaxLowLevel::~CANSparkMaxLowLevel ( )

virtual

Closes the SPARK MAX Controller

Member Function Documentation

◆ GetFirmwareVersion() [1/2]

uint32_t rev::CANSparkMaxLowLevel::GetFirmwareVersion ( )

Get the firmware version of the SPARK MAX.

Returns: uint32_t Firmware version integer. Value is represented as 4 bytes, Major.Minor.Build H.Build L

◆ GetFirmwareVersion() [2/2]

uint32_t rev::CANSparkMaxLowLevel::GetFirmwareVersion ( bool & isDebugBuild )

◆ GetFirmwareString()

std::string rev::CANSparkMaxLowLevel::GetFirmwareString ( )

Get the firmware version of the SPARK MAX as a string.

Returns: std::string Human readable firmware version string

◆ GetSerialNumber()

std::vector< uint8_t > rev::CANSparkMaxLowLevel::GetSerialNumber ( )

Get the unique serial number of the SPARK MAX. Currently not implemented.

Returns: std::vector<uint8_t> Vector of bytes representig the unique serial number

◆ GetDeviceId()

int rev::CANSparkMaxLowLevel::GetDeviceId ( ) const

Get the configured Device ID of the SPARK MAX.

Returns: int device ID

◆ GetInitialMotorType()

MotorType rev::CANSparkMaxLowLevel::GetInitialMotorType ( )

Get the motor type setting from when the SparkMax was created.

This does not use the Get Parameter API which means it does not read what motor type is stored on the SparkMax itself. Instead, it reads the stored motor type from when the SparkMax object was first created.

Returns: MotorType Motor type setting

Deprecated:: Use GetMotorType() instead

◆ GetMotorType()

MotorType rev::CANSparkMaxLowLevel::GetMotorType ( )

Get the motor type setting for the SPARK MAX.

Returns: MotorType Motor type setting

◆ SetPeriodicFramePeriod()

REVLibError rev::CANSparkMaxLowLevel::SetPeriodicFramePeriod	(	PeriodicFrame	frame,
		int	periodMs
	)

Set the rate of transmission for periodic frames from the SPARK MAX

Each motor controller sends back status frames with different data at set rates. Use this function to change the default rates.

Defaults: Status0 - 10ms Status1 - 20ms Status2 - 20ms Status3 - 50ms Status4 - 20ms Status5 - 200ms Status6 - 200ms

This value is not stored in the FLASH after calling burnFlash() and is reset on powerup.

Refer to the SPARK MAX reference manual on details for how and when to configure this parameter.

Parameters

frame	Which periodic frame to change the period of
periodMs	The rate the controller sends the frame to the controller.

Returns: REVLibError::kOk if successful

◆ SetControlFramePeriodMs()

void rev::CANSparkMaxLowLevel::SetControlFramePeriodMs ( int periodMs )

Set the control frame send period for the native CAN Send thread. To disable periodic sends, set periodMs to 0.

Parameters

periodMs The send period in milliseconds between 1ms and 100ms or set to 0 to disable periodic sends. Note this is not updated until the next call to Set() or SetReference().

◆ RestoreFactoryDefaults()

REVLibError rev::CANSparkMaxLowLevel::RestoreFactoryDefaults ( bool persist = false )

Restore motor controller parameters to factory default

Parameters

persist If true, burn the flash with the factory default parameters

Returns: REVLibError::kOk if successful

◆ EnableExternalUSBControl()

static void rev::CANSparkMaxLowLevel::EnableExternalUSBControl ( bool enable )

static

Allow external controllers to recieve control commands over USB. For example, a configuration where the heartbeat (and enable/disable) is sent by the main controller, but control frames are sent by other CAN devices over USB.

This is global for all controllers on the same bus.

This does not disable sending control frames from this device. To prevent conflicts, do not enable this feature and also send Set() for SetReference() from the controllers you wish to control.

Parameters

enable Enable or disable external control

◆ SetEnable()

static void rev::CANSparkMaxLowLevel::SetEnable ( bool enable )

static

Send enabled or disabled command to controllers. This is global for all controllers on the same bus, and will only work for non-roboRIO targets in non-competiton use. This function will also not work if a roboRIO is present on the CAN bus.

This does not disable sending control frames from this device. To prevent conflicts, do not enable this feature and also send Set() for SetReference() from the controllers you wish to control.

Parameters

enable Enable or disable external control

◆ GetPeriodicStatus0()

PeriodicStatus0 rev::CANSparkMaxLowLevel::GetPeriodicStatus0 ( )

protected

◆ GetPeriodicStatus1()

PeriodicStatus1 rev::CANSparkMaxLowLevel::GetPeriodicStatus1 ( )

protected

◆ GetPeriodicStatus2()

PeriodicStatus2 rev::CANSparkMaxLowLevel::GetPeriodicStatus2 ( )

protected

◆ SetFollow()

REVLibError rev::CANSparkMaxLowLevel::SetFollow ( FollowConfig config )

protected

◆ SetpointCommand()

REVLibError rev::CANSparkMaxLowLevel::SetpointCommand	(	double	value,
		CANSparkMaxLowLevel::ControlType	ctrl = `ControlType::kDutyCycle`,
		int	pidSlot = `0`,
		double	arbFeedforward = `0`,
		int	arbFFUnits = `0`
	)

protected

◆ GetSafeFloat()

float rev::CANSparkMaxLowLevel::GetSafeFloat ( float f )

protected

Friends And Related Function Documentation

◆ CANAnalog

friend class CANAnalog

friend

◆ CANDigitalInput

friend class CANDigitalInput

friend

◆ CANEncoder

friend class CANEncoder

friend

◆ CANPIDController

friend class CANPIDController

friend

◆ CANSensor

friend class CANSensor

friend

◆ CANSparkMax

friend class CANSparkMax

friend

◆ MotorFeedbackSensor

friend class MotorFeedbackSensor

friend

◆ SparkMaxAnalogSensor

friend class SparkMaxAnalogSensor

friend

◆ SparkMaxAlternateEncoder

friend class SparkMaxAlternateEncoder

friend

◆ SparkMaxLimitSwitch

friend class SparkMaxLimitSwitch

friend

◆ SparkMaxPIDController

friend class SparkMaxPIDController

friend

◆ SparkMaxRelativeEncoder

friend class SparkMaxRelativeEncoder

friend

◆ SparkMaxAbsoluteEncoder

friend class SparkMaxAbsoluteEncoder

friend

◆ ::ConfigBase

friend class ::ConfigBase

friend

Member Data Documentation

◆ kAPIMajorVersion

const uint8_t rev::CANSparkMaxLowLevel::kAPIMajorVersion

static

◆ kAPIMinorVersion

const uint8_t rev::CANSparkMaxLowLevel::kAPIMinorVersion

static

◆ kAPIBuildVersion

const uint8_t rev::CANSparkMaxLowLevel::kAPIBuildVersion

static

◆ kAPIVersion

const uint32_t rev::CANSparkMaxLowLevel::kAPIVersion

static

◆ m_motorType

MotorType rev::CANSparkMaxLowLevel::m_motorType

protected

◆ m_sparkMaxHandle

void* rev::CANSparkMaxLowLevel::m_sparkMaxHandle

protected

The documentation for this class was generated from the following file:

src/main/native/include/rev/CANSparkMaxLowLevel.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Friends

Member Enumeration Documentation

◆ MotorType

◆ ControlType

◆ ParameterStatus

◆ PeriodicFrame

◆ TelemetryID

◆ FeedbackSensorType

Constructor & Destructor Documentation

◆ ~CANSparkMaxLowLevel()

Member Function Documentation

◆ GetFirmwareVersion() [1/2]

◆ GetFirmwareVersion() [2/2]

◆ GetFirmwareString()

◆ GetSerialNumber()

◆ GetDeviceId()

◆ GetInitialMotorType()

◆ GetMotorType()

◆ SetPeriodicFramePeriod()

◆ SetControlFramePeriodMs()

◆ RestoreFactoryDefaults()

◆ EnableExternalUSBControl()

◆ SetEnable()

◆ GetPeriodicStatus0()

◆ GetPeriodicStatus1()

◆ GetPeriodicStatus2()

◆ SetFollow()

◆ SetpointCommand()

◆ GetSafeFloat()

Friends And Related Function Documentation

◆ CANAnalog

◆ CANDigitalInput

◆ CANEncoder

◆ CANPIDController

◆ CANSensor

◆ CANSparkMax

◆ MotorFeedbackSensor

◆ SparkMaxAnalogSensor

◆ SparkMaxAlternateEncoder

◆ SparkMaxLimitSwitch

◆ SparkMaxPIDController

◆ SparkMaxRelativeEncoder

◆ SparkMaxAbsoluteEncoder

◆ ::ConfigBase

Member Data Documentation

◆ kAPIMajorVersion

◆ kAPIMinorVersion

◆ kAPIBuildVersion

◆ kAPIVersion

◆ m_motorType

◆ m_sparkMaxHandle